KR20130015049A - Apparatus and control method for crane hook - Google Patents
Apparatus and control method for crane hook Download PDFInfo
- Publication number
- KR20130015049A KR20130015049A KR1020110076841A KR20110076841A KR20130015049A KR 20130015049 A KR20130015049 A KR 20130015049A KR 1020110076841 A KR1020110076841 A KR 1020110076841A KR 20110076841 A KR20110076841 A KR 20110076841A KR 20130015049 A KR20130015049 A KR 20130015049A
- Authority
- KR
- South Korea
- Prior art keywords
- distance
- crane
- cargo
- wire
- hook
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a hook control apparatus for a crane that controls a hook of a crane that is caught by a cargo when the cargo is lifted or moves a cargo by a crane by pulling and unwinding the wire by rotating the wire drum. A distance measuring unit for measuring a distance between the vehicle and a cargo and outputting a measured value, a driving unit for directing the distance measuring unit to a measurement object, a tilt measuring unit for measuring an operating angle of the driving unit and outputting the measured value, Encoder for measuring the rotational amount of the wire drum wound around the wire connected to the hook and outputs the measured value, and converts the output value of the distance measuring unit, the tilt measuring unit and the encoder and corresponding to the drive unit and the wire It provides a hook control device of a crane including a control unit for outputting a drum control signal.
The present invention has the effect of safely loading the cargo by converting the distance between the cargo being lifted by the crane and the loading point of the cargo and controlling the length of the wire connected to the hook of the crane for lifting the cargo in response to the converted distance.
Description
The present invention relates to a method and apparatus for controlling a hook of a crane, and more particularly, by measuring a distance between a position of a salvage lifted by a hook of a crane and a distance at which a salvage is placed. It relates to a hook control method and apparatus of a crane capable of controlling the operation of the hook.
A crane is a machine that lifts heavy materials and moves them in the vertical and horizontal directions. There are many types of cranes depending on the purpose of use and the type of movement.
In addition, a hook device is used to fix the cargo when moving the cargo using a crane. The hook device generally includes a hook which hangs on a moving object by directly hanging on a pin installed on the side of a lifting cargo or using an intermediate member such as a wire.
When a crane is used to load a cargo where it is needed or to move a cargo loaded at a certain place to another, the operator operating the crane in the crane's control room knows the relative distance between the cargo and the loading point of the cargo. When loading the cargo to the loading point is difficult, the operation speed of the hook is not reduced, there was a problem that the cargo is damaged due to accidents such as collision with the ground.
Conventionally, a separate worker guides the distance between the cargo and the loading point for such a task, but when the communication between the operator and the crane operator is not smooth, the loading of the cargo is still difficult, and the worker who guides the distance Was at risk of an accident.
The present invention has been made to solve the above problems, the distance between the cargo lifted by the crane and the loading point of the cargo is converted to control the length of the wire connected to the hook of the crane lifting the cargo corresponding to the converted distance It is an object of the present invention to provide a hook control method and apparatus of a crane capable of safely loading cargo.
The present invention provides a hook control apparatus for a crane that controls a hook of a crane that is caught by a cargo when the cargo is lifted or moves a cargo by a crane by pulling and unwinding the wire by rotating the wire drum. A distance measuring unit for measuring a distance between the vehicle and a cargo and outputting a measured value, a driving unit for directing the distance measuring unit to a measurement object, a tilt measuring unit for measuring an operating angle of the driving unit and outputting the measured value, Encoder for measuring the rotational amount of the wire drum wound around the wire connected to the hook and outputs the measured value, and converts the output value of the distance measuring unit, the tilt measuring unit and the encoder and corresponding to the drive unit and the wire It provides a hook control device of a crane including a control unit for outputting a drum control signal.
The distance measuring unit may use a laser.
The distance measuring unit may be installed at an end side of the boom of the crane and installed at a position corresponding to 1/3 distance of the boom length.
In addition, the present invention provides a hook control method of a crane to operate the wire drum to adjust the loosening of the wire to which the hook of the crane is connected and to safely put down the cargo lifted by the hook of the crane in a loading position, Measuring a distance (D1) of the ground and the distance measuring unit by a distance measuring unit, rotating the distance measuring unit toward the salvaged cargo, and measuring a rotation angle, by the distance measuring unit Measuring the distance (D2) of the salvaged cargo, converting the distance (D) between the salvaged cargo and the ground, and controlling the degree of wire loosening according to the distance between the salvaged cargo and the ground (D) It provides a hook control method of a crane comprising a step.
In the step of converting the distance between the lifted cargo and the ground, the conversion of the distance is D = D1- (D2 * cos θ) (D: distance between the ground and the salvage cargo, D1: distance between the distance measuring unit and the ground , D2: distance between the distance measuring unit and the lower part of the lifted cargo, θ: rotation angle of the distance measuring unit).
The step of controlling the wire loosening degree of the crane is a step of measuring the degree of rotation of the wire drum by the inverter, converting the degree of loosening of the wire by the rotation value measured by the inverter, the degree of loosening of the wire Comparing the distance between the cargo and the ground, the lowering of the rotational speed of the wire drum as the distance is closer to the degree of loosening of the wire in the comparing step and the degree of loosening of the wire is the same in the comparing step And stopping the rotation of the wire drum.
The present invention as described above, the effect of converting the distance between the cargo and the loading point of the cargo being lifted by the crane and controlling the length of the wire connected to the hook of the crane for lifting the cargo in response to the converted distance to safely load the cargo There is.
1 and 2 are views showing the configuration of a hook control device of a crane according to an embodiment of the present invention.
3 is a view showing a connection state of the driving unit and the distance measuring unit according to another embodiment of the present invention.
4 is a view showing a crane using a hook control device of a crane according to an embodiment of the present invention.
5 is a view showing the configuration of a wire drum according to an embodiment of the present invention.
6 is a flow chart showing the configuration of a hook control method of a crane according to an embodiment of the present invention.
7 is a flow chart showing the configuration of the step of controlling the wire unwinding degree of the crane according to an embodiment of the present invention.
8 is a view for explaining the operation of the encoder according to an embodiment of the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1 and 2 are views showing the configuration of a hook control device of a crane according to an embodiment of the present invention.
3 is a view showing a connection state of the driving unit and the distance measuring unit according to another embodiment of the present invention.
4 is a view showing a crane using a hook control device of a crane according to an embodiment of the present invention.
1 to 4, the
The above components may be installed in a
First, the hook control apparatus of a crane according to an embodiment of the present invention has been described by applying to a crane using a boom (boom) as shown in Figure 4, the present invention is not limited to this and various types It can be applied to the crane.
The
The
The
The
Each of the distances D1 and D2 measured by the
Here, the
The
In addition, in the present embodiment, the
Laser distance measurement technology is well known in the art, so a detailed description thereof will be omitted.
In the present embodiment, a laser is used as the
Depending on the location of the salvage cargo, the
The
The
The tilt measuring unit 140 is installed on the drive shaft of the
The inclination measuring unit 140 may be configured as a contact sensor, but if the degree of rotation of the driving shaft of the
In addition, the tilt measuring unit 140 is installed on the drive shaft of the
The
Since the signal output from the
6 is a flow chart showing the configuration of the hook control method of the crane according to an embodiment of the present invention, Figure 7 is a flow chart showing the configuration of the step of controlling the wire unwinding degree of the crane according to an embodiment of the present invention.
Referring to Figures 6 and 7, the operation of the embodiment of the present invention configured as described above will be described.
As with a general crane, the cargo is lifted using the
When loading the lifted cargo, the
The
Thereafter, the
Thereafter, the
The
The
The
The distance calculation between the salvage cargo and the ground by the
(D: distance between ground and salvage
D1: Distance between the distance measuring part and the ground
D2: Distance between the distance measuring section and the bottom of the salvaged cargo
θ: angle of the distance measuring unit)
The lifting cargo is moved to a predetermined place, that is, the position at which the cargo is loaded by the operation of the
Referring to FIG. 8, when the
The angle measured by the
The
In addition, the
On the other hand, a display unit (not shown) is provided in the adjustment chamber of the
While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.
1: crane
2: boom
10: hook
12: hook wire
14: wire
20: salvage cargo
100: hook control device
102: case
110: control unit
120: distance measuring unit
130: drive unit
140: first tilt measurement unit
150: encoder
160: wire drum
Claims (6)
Distance measuring unit for measuring the distance from the ground and the cargo and output the measured value,
A driving unit for directing the distance measuring unit to a measurement object;
A tilt measuring unit measuring an operating angle of the driving unit and outputting a measured value;
An encoder for measuring an amount of rotation of a wire drum to which the wire connected to the hook is wound and outputting a measured value,
And a controller for receiving and converting output values of the distance measuring unit, the tilt measuring unit, and the encoder, and outputting the driving unit and the wire drum control signal corresponding thereto.
Hook control unit of crane.
The distance measuring unit uses a laser
Hook control unit of crane.
The distance measuring unit is installed on the end side of the boom of the crane is installed at a position corresponding to the distance 1/3 of the boom length
Hook control unit of crane.
Measuring a distance D1 between the ground and the distance measuring unit by a distance measuring unit;
Rotating the distance measuring unit toward the lifted cargo and measuring a rotation angle;
Measuring the distance D2 between the distance measuring unit and the salvage by the distance measuring unit;
Converting the distance (D) between the salvage cargo and the ground; and
Controlling the amount of wire loosening according to the distance between the salvage and the ground (D)
Containing
How to control the hook of the crane.
In the step of converting the distance between the salvage cargo and the ground
The conversion of the distance
D = D1- (D2 * cos θ)
(D: distance between ground and salvage
D1: Distance between the distance measuring part and the ground
D2: Distance between the distance measuring section and the bottom of the salvaged cargo
θ: rotation angle of the distance measuring unit)
Made by
How to control the hook of the crane.
Controlling the degree of wire loosening of the crane
Measuring the degree of rotation of the wire drum by an inverter,
Converting the degree of loosening of the wire into a rotation value measured by the inverter;
Comparing the degree of loosening of the wire and the distance between the cargo and the ground,
Reducing the rotational speed of the wire drum as the distance and the degree of loosening of the wire are closer in the comparing step,
Stopping the rotation of the wire drum if the distance is equal to the degree of loosening of the wire in the comparing step.
Containing
How to control the hook of the crane.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020110076841A KR20130015049A (en) | 2011-08-02 | 2011-08-02 | Apparatus and control method for crane hook |
Applications Claiming Priority (1)
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---|---|---|---|
KR1020110076841A KR20130015049A (en) | 2011-08-02 | 2011-08-02 | Apparatus and control method for crane hook |
Publications (1)
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KR20130015049A true KR20130015049A (en) | 2013-02-13 |
Family
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KR1020110076841A KR20130015049A (en) | 2011-08-02 | 2011-08-02 | Apparatus and control method for crane hook |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101384576B1 (en) * | 2013-08-20 | 2014-04-11 | 주식회사 에이엔케이 | Hook movement controlling apparatus of a crane and the method thereof |
IT201600108686A1 (en) * | 2016-10-27 | 2018-04-27 | O Me Fa S P A Officina Mecc Fassi | Support device for a cable of a winch of a crane |
CN108680376A (en) * | 2018-07-16 | 2018-10-19 | 江苏省特种设备安全监督检验研究院 | Multifunctional motor-driven cucurbit testing stand |
KR20220006738A (en) * | 2020-07-09 | 2022-01-18 | 주식회사 포스코 | Transporting apparatus and method for steel product |
-
2011
- 2011-08-02 KR KR1020110076841A patent/KR20130015049A/en not_active Application Discontinuation
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101384576B1 (en) * | 2013-08-20 | 2014-04-11 | 주식회사 에이엔케이 | Hook movement controlling apparatus of a crane and the method thereof |
IT201600108686A1 (en) * | 2016-10-27 | 2018-04-27 | O Me Fa S P A Officina Mecc Fassi | Support device for a cable of a winch of a crane |
EP3315452A1 (en) * | 2016-10-27 | 2018-05-02 | O.ME.FA. S.p.A. Officina Meccanica Fassi | Device for supporting a cable of a capstan of a crane |
US10384916B2 (en) | 2016-10-27 | 2019-08-20 | O.ME.FA S.p.A. Officina Meccanica Fassi | Device for supporting a cable of a capstan of a crane |
CN108680376A (en) * | 2018-07-16 | 2018-10-19 | 江苏省特种设备安全监督检验研究院 | Multifunctional motor-driven cucurbit testing stand |
CN108680376B (en) * | 2018-07-16 | 2023-10-10 | 江苏省特种设备安全监督检验研究院 | Multifunctional electric hoist test bed |
KR20220006738A (en) * | 2020-07-09 | 2022-01-18 | 주식회사 포스코 | Transporting apparatus and method for steel product |
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